GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.
Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
062140,000002: ## Copyright: Public domain.
062141,000003: ## Filename: KALMAN_FILTER.agc
062142,000004: ## Purpose: A section of Luminary 1C, revision 131.
062143,000005: ## It is part of the source code for the Lunar Module's (LM)
062144,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
062145,000007: ## This file is intended to be a faithful transcription, except
062146,000008: ## that the code format has been changed to conform to the
062147,000009: ## requirements of the yaYUL assembler rather than the
062148,000010: ## original YUL assembler.
062149,000011: ## Reference: pp. 1462-1463
062150,000012: ## Contact: Ron Burkey <info@sandroid.org>.
062151,000013: ## Website: www.ibiblio.org/apollo/index.html
062152,000014: ## Mod history: 06/08/03 RSB. Began transcribing.
062153,000015: ## 05/14/05 RSB Corrected website reference above
062154,000016: ## 2017-01-06 RSB Page numbers now agree with those on the
062155,000017: ## original hardcopy, as opposed to the PDF page
062156,000018: ## numbers in 1701.pdf.
062157,000019: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
062158,000020:
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Page 1462 |
062160,000022: 17,3777 E6,1522 EBANK= NO.UJETS
062161,000023: 16,3645 BANK 16
062162,000024: 16,2000 SETLOC DAPS1
062163,000025: 16,2000 BANK
062164,000026:
062165,000027: 16,3645 COUNT* $$/DAP
062166,000028:
062167,000029: 16,3645 34752 RATELOOP CA TWO
062168,000030: 16,3646 55743 TS DAPTEMP6
062169,000031: 16,3647 60000 DOUBLE
062170,000032: 16,3650 54002 TS Q
062171,000033: 16,3651 51743 INDEX DAPTEMP6
062172,000034: 16,3652 11524 CCS TJP
062173,000035: 16,3653 13655 TCF +2
062174,000036: 16,3654 13674 TCF LOOPRATE
062175,000037: 16,3655 63735 AD -100MST6
062176,000038: 16,3656 00006 EXTEND
062177,000039: 16,3657 63713 BZMF SMALLTJU
062178,000040: 16,3660 51743 INDEX DAPTEMP6
062179,000041: 16,3661 11524 CCS TJP
062180,000042: 16,3662 33735 CA -100MST6
062181,000043: 16,3663 13665 TCF +2
062182,000044: 16,3664 43735 CS -100MST6
062183,000045: 16,3665 51743 INDEX DAPTEMP6
062184,000046: 16,3666 27524 ADS TJP
062185,000047: 16,3667 51743 INDEX DAPTEMP6
062186,000048: 16,3670 11524 CCS TJP
062187,000049: 16,3671 43621 CS -100MS # 0.1 AT 1
062188,000050: 16,3672 13674 TCF +2
062189,000051: 16,3673 33621 CA -100MS
062190,000052: 16,3674 00006 LOOPRATE EXTEND
062191,000053: 16,3675 51743 INDEX DAPTEMP6
062192,000054: 16,3676 71521 MP NO.PJETS
062193,000055: 16,3677 30001 CA L
062194,000056: 16,3700 51743 INDEX DAPTEMP6
062195,000057: 16,3701 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062196,000058: 16,3702 00006 EXTEND
062197,000059: 16,3703 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062198,000060: 16,3704 00006 EXTEND
062199,000061: 16,3705 63736 BZMF NEGTORK
062200,000062: 16,3706 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062201,000063: 16,3707 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062202,000064:
062203,000065: 16,3710 11743 CCS DAPTEMP6
062204,000066: 16,3711 13646 TCF RATELOOP +1
062205,000067: 16,3712 13722 TCF ROTORQUE
062206,000068: 16,3713 34755 SMALLTJU CA ZERO
062207,000069: 16,3714 51743 INDEX DAPTEMP6
062208,000070: 16,3715 57524 XCH TJP
062209,000071: 16,3716 00006 EXTEND
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Page 1463 |
062211,000073: 16,3717 74760 MP ELEVEN # 10.24 PLUS
062212,000074: 16,3720 30001 CA L
062213,000075: 16,3721 13674 TCF LOOPRATE
062214,000076: 16,3722 31737 ROTORQUE CA DAPTEMP2
062215,000077: 16,3723 61740 AD DAPTEMP3
062216,000078: 16,3724 00006 EXTEND
062217,000079: 16,3725 71532 MP 1JACCR
062218,000080: 16,3726 55746 TS JETRATER
062219,000081: 16,3727 41740 CS DAPTEMP3
062220,000082: 16,3730 61737 AD DAPTEMP2
062221,000083: 16,3731 00006 EXTEND
062222,000084: 16,3732 71531 MP 1JACCQ
062223,000085: 16,3733 55745 TS JETRATEQ
062224,000086: 16,3734 12316 TCF BACKP
062225,000087: 16,3735 77537 -100MST6 DEC -160 B-14
062226,000088:
062227,000089: 16,3736 40000 NEGTORK COM
062228,000090: 16,3737 24002 INCR Q
062229,000091: 16,3740 13706 TCF STORTORK
062230,000092:
062231,000093:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc